fixing includes and cmake targets

source/armarx/navigation/platform_controller/PlatformTrajectoryController.h

@@ -29,12 +29,9 @@
 #include <RobotAPI/components/units/RobotUnit/RobotUnit.h>
 #include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValueHolonomicPlatform.h>
 
-#include <armarx/navigation/trajectory_control/TrajectoryFollowingController.h>
-#include <armarx/control/common/control_law/ControllerCommonInterface.h>
-#include <armarx/control/njoint_controller/task_space/ControllerInterface.h>
-#include <armarx/control/njoint_qp_controller/ControllerInterface.h>
-
+#include <armarx/control/interface/ConfigurableNJointControllerInterface.h>
 #include <armarx/navigation/core/types.h>
+#include <armarx/navigation/trajectory_control/TrajectoryFollowingController.h>
 
 namespace armarx
 {
@@ -88,7 +85,7 @@ namespace armarx::navigation::platform_controller::platform_trajectory
         virtual public armarx::control::ConfigurableNJointControllerInterface
     {
     public:
-        using ConfigPtrT = NJointTaskspaceControllerConfigPtr;
+        using ConfigPtrT = control::ConfigurableNJointControllerInterfacePtr;
 
         Controller(const RobotUnitPtr& robotUnit,
                    const NJointControllerConfigPtr& config,
@@ -149,4 +146,4 @@ namespace armarx::navigation::platform_controller::platform_trajectory
         //                                       const NameValueMap& targetJointAngles) const;
     };
 
-} // namespace armarx::control::platform_controller::platform_trajectory
+}  // namespace armarx::navigation::platform_controller::platform_trajectory

source/armarx/navigation/server/CMakeLists.txt

@@ -57,7 +57,7 @@ armarx_add_library(server
         armarx_navigation::safety_control
         armarx_navigation::memory
         armarx_control::client
-        armarx_control::njoint_qp_controller_ice
+        armarx_control::interface
     DEPENDENCIES_PRIVATE
         range-v3::range-v3
 )